US11312572B2 - Warehousing control system and computer device - Google Patents

Warehousing control system and computer device Download PDF

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US11312572B2
US11312572B2 US16/677,386 US201916677386A US11312572B2 US 11312572 B2 US11312572 B2 US 11312572B2 US 201916677386 A US201916677386 A US 201916677386A US 11312572 B2 US11312572 B2 US 11312572B2
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warehousing
container
target
task
transportation vehicle
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US20200140197A1 (en
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Chao Yan
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Beijing Tusimple Technology Co Ltd
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Beijing Tusimple Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop

Definitions

  • the present disclosure relates to artificial intelligence technology, and more particularly, to a warehousing control system and a computer device.
  • a port As a hub station for waterway-land coordinated transportation, a port is a buffer for conversion of transportation schemes of containerized goods, and plays an important role in the whole container transportation process. At the port, container transportation operations such as container unloading and container loading are required for inbound and outbound containers.
  • the process of container unloading is generally as follows. After a ship arrives at a port, a container is first moved onto a transportation vehicle by a shore crane (or shore bridge). Then, the container is transported by the transportation vehicle to a yard (or warehouse center). Finally, the container on the transportation vehicle is placed at a corresponding location in the yard by a warehouse hoisting apparatus (such as a rail-mounted gantry crane, a rubber-tired gantry crane, a forklift, etc.) near the yard, thereby completing the ship unloading operation.
  • a warehouse hoisting apparatus such as a rail-mounted gantry crane, a rubber-tired gantry crane, a forklift, etc.
  • the process of container loading is generally as follows. A container in a yard is lifted and placed onto a transportation vehicle by a warehouse hoisting apparatus at the yard, and transported by the transportation vehicle to a shore crane where a ship is located. The container on the transportation vehicle is placed onto the ship by the shore crane, thereby completing the ship loading operation.
  • a warehousing control system includes: a communication module configured to transmit and receive information; and a warehousing server.
  • the warehousing server includes at least one processor and at least one memory.
  • the at least one memory stores at least one machine executable instruction which, when executed by the at least one processor, causes the at least one processor to: plan, upon receiving a container warehousing task via the communication module, a target warehousing area and a target warehousing space corresponding to each container in the container warehousing task, and assign a warehouse hoisting apparatus to hoist a target container carried by a transportation vehicle to a corresponding target warehousing space; and/or assign, upon receiving a container distribution task via the communication module, a warehouse hoisting apparatus to load a target container in the container distribution task onto an assigned transportation vehicle.
  • a computer device in a second aspect, according to an embodiment of the present disclosure, includes the warehousing control system according to the above first aspect.
  • FIG. 1 is a first schematic diagram showing a structure of a warehousing control system according to an embodiment of the present disclosure
  • FIG. 2 is a second schematic diagram showing a structure of a warehousing control system according to an embodiment of the present disclosure
  • FIG. 3 is a first schematic diagram showing a structure of a virtual 3D warehouse model according to an embodiment of the present disclosure.
  • FIG. 4 is a second schematic diagram showing a structure of a virtual 3D warehouse model according to an embodiment of the present disclosure.
  • the above container transportation operations such as loading and unloading require human intervention.
  • ships need to be steered and controlled by humans to berth at specified locations.
  • Hoisting apparatus and transportation vehicles need to be driven and operated by operators to perform operations such as container loading, container unloading and transportation.
  • Yards or warehouse centers also need human intervention to arrange locations at which containers are to be placed.
  • the conventional container transportation operations at the port have low level of intelligence and require a large amount of human resources, resulting in a low operation efficiency.
  • due to the complicated environment in the field it is difficult to guarantee the safety of the operators.
  • the labor cost is relatively high as a large number of operators are required.
  • the technical solutions according to the embodiments of the present disclosure can allow communications and interactions among a warehousing control system, a scheduling center, a warehouse hoisting apparatus, and a transportation vehicle, so as to achieve intelligent control of warehousing and scheduling.
  • the warehousing and distribution of containers can be achieved without human intervention, such that fully automated intelligent warehousing can be achieved, thereby reducing human resource consumption, reducing human resource investment, improving operation efficiency, and avoiding the problem associated with lack of safety guarantee for operators.
  • FIG. 1 is a schematic diagram showing a structure of a warehousing control system according to an embodiment of the present disclosure.
  • the warehousing control system includes a communication module 1 and a warehousing server 2 .
  • the communication module 1 is configured to transmit and receive information.
  • the warehousing server 2 includes at least one processor and at least one memory.
  • the at least one memory stores at least one machine executable instruction which, when executed by the at least one processor, causes the at least one processor to: plan, upon receiving a container warehousing task via the communication module 1 , a target warehousing area and a target warehousing space corresponding to each container in the container warehousing task, and assign a warehouse hoisting apparatus to hoist a target container carried by a transportation vehicle to a corresponding target warehousing space; and/or assign, upon receiving a container distribution task via the communication module 1 , a warehouse hoisting apparatus to load a target container in the container distribution task onto an assigned transportation vehicle.
  • the warehousing control system can achieve the control of the container warehousing process and the control of the container distribution process.
  • the communication module 1 may be a communication module for wired communication or a communication module for wireless communication. In some optional embodiments, the communication module 1 may be a transceiver based on multiple communication protocols.
  • the warehousing server 2 assigning the warehouse hoisting apparatus to hoist the target container carried by the transportation vehicle to the corresponding target warehousing space may include: the warehousing server confirming, upon receiving a container unloading in-position notification message transmitted from the transportation vehicle via the communication module 1 , an identity of a container on the transportation vehicle, and assigning the warehouse hoisting apparatus to hoist the container on the transportation vehicle to the corresponding target warehousing space when the identity is confirmed.
  • the warehousing server 2 assigning the warehouse hoisting apparatus to hoist the container on the transportation vehicle to the corresponding target warehousing space may include: the warehousing server 2 generating a container unloading hoisting task containing the target warehousing space for the container on the transportation vehicle, and transmitting the container unloading hoisting task to the warehouse hoisting apparatus via the communication module 1 . Accordingly, the warehouse hoisting apparatus can lift and store the container on the transportation vehicle to the corresponding target warehousing space in accordance with the received container unloading hoisting task.
  • the warehouse hoisting apparatus can transmit a container unloading completion notification message to the warehousing server 2 after storing the container on the transportation vehicle to the target warehousing space.
  • the warehousing server 2 can be further configured to: mark, upon receiving a container unloading completion notification message from the warehouse hoisting apparatus via the communication module 1 , the container as in a stored state in the container warehousing task; and transmit a container warehousing task completion notification message to a scheduling center via the communication module 1 when confirming that all containers in the container warehousing task have been marked as in the stored state.
  • the warehousing server 2 can be configured to: confirm, upon receiving a container unloading in-position notification message, an identity of each target container on the transportation vehicle, and assign the warehouse hoisting apparatus to hoist the target container carried by the transportation vehicle to the corresponding warehousing space when the identity is confirmed.
  • a tag containing the identification information of the container can be provided at the surface of the container.
  • the tag can be a Quick Response (QR) code or a barcode
  • the warehousing management system 2 can confirm the identity of the container on the transportation vehicle by recognizing the QR code or barcode on the container.
  • QR Quick Response
  • the warehousing server 2 can include an identity recognition device, which can be a camera, a code reader or any other device capable of recognizing a QR code or barcode (the present disclosure is not limited thereto).
  • the identity recognition device can be provided at or near a loading/unloading location of a container area and can obtain the identification information of the container by scanning the QR code or barcode on the container.
  • the warehousing server 2 can compare the identification information of the container with the identification information of the container in the container warehousing task, and determine that the identity is confirmed when they match each other, or otherwise determine that the confirmation of the identity fails.
  • the tag can be an electronic tag bound to the identification information of the container.
  • the identity recognition device can be an inductive reader for obtaining the identification information of the container by reading the identification information of the container from the electronic tag, comparing the identification information of the container with the identification information of the container in the container warehousing task, and determining that the identity is confirmed when they match each other, or otherwise determining that the confirmation of the identity fails.
  • the warehousing control system can control the warehouse hoisting apparatus to achieve automated loading.
  • the warehousing server 2 assigning the warehouse hoisting apparatus to load the target container in the container distribution task onto the assigned transportation vehicle may include the warehousing server 2 confirming, upon receiving a container loading in-position notification message transmitted from the transportation vehicle via the communication module 1 , an identity of a container at a target warehousing space in accordance with the container distribution task, and assigning the warehouse hoisting apparatus to load the container onto the transportation vehicle when the identity is confirmed.
  • the warehousing server 2 assigning the warehouse hoisting apparatus to load the container onto the transportation vehicle may include: the warehousing server 2 generating a container loading hoisting task containing the target warehousing space based on the container distribution task, and transmitting the container loading hoisting task to the warehouse hoisting apparatus.
  • the warehouse hoisting apparatus can lift the container at the target warehousing space in the container loading hoisting task upon receiving the container loading hoisting task, and hoist the container onto the transportation vehicle upon receiving a transportation vehicle in-position notification message.
  • the warehouse hoisting apparatus can transmit a container loading completion notification message to the warehousing server 2 when completing the container loading hoisting task.
  • the warehousing server 2 can be further configured to: mark, upon receiving a container loading completion notification message for the container from the warehouse hoisting apparatus via the communication module 1 , the container as in a distributed state in the container distribution task; and transmit a container distribution task completion notification message to a scheduling center via the communication module when confirming that all containers in the container distribution task have been marked as in the distributed state.
  • the warehousing server 2 can recognize the tag on the container at the target warehousing space in the container distribution task using the identity recognition device to obtain the identification information of the container, compare the identification information with the identification information of the container in the container distribution task, and determine that the identity is confirmed when they match each other, or otherwise determine that the confirmation of the identity fails.
  • an environment monitoring module 3 can be provided in the warehousing control system shown in FIG. 1 , as shown in FIG. 2 .
  • the environment monitoring module 3 is configured to detect warehouse environment information, and transmit the warehouse environment information to the warehousing server 2 .
  • the warehousing server 2 can be further configured to transmit the received warehouse environment information to the scheduling center via the communication module 1 .
  • the environment monitoring module 1 may include at least one of a temperature sensor, a humidity sensor, a smoke detection sensor, or an electromagnetic radiation sensor.
  • the warehousing server 2 can determine whether the warehouse environment meets predetermined requirements based on the received warehouse environment information, and if so, perform no additional processing; or otherwise issue an alarm.
  • the scheduling center can determine whether the warehouse environment meets predetermined requirements based on the received warehouse environment information, and if so, perform no additional processing; or otherwise issue an alarm.
  • Different sensors can be installed in different warehousing areas.
  • electromagnetic radiation sensors, smoke detection sensors, or temperature and humidity sensors can be installed in warehousing areas for flammable and explosive goods, such as chemicals and petroleum.
  • Temperature sensors and humidity sensors can be installed in warehousing areas for perishable goods such as drugs and food, since the warehousing of these goods need to monitor the warehouse environment in real time, e.g., with respect to temperature and humidity, ventilation and moisture resistance.
  • An alarm can be issued once it is detected that the warehouse environment is not suitable for warehousing the goods. The alarm can be issued by the warehousing server or by the scheduling center.
  • the warehousing server 2 can be further configured to: create a virtual 3D warehouse model based on an occupied area of each warehousing area and a container size, the 3D warehouse model showing warehousing space information and warehousing space state information of each warehousing area; and report the warehousing space information and the warehousing space state information of each warehousing area to the scheduling center and/or the warehousing server via the communication module 1 .
  • the warehousing space information may include information such as a warehousing space number and a position of the warehousing space.
  • the warehousing space state information may include the warehousing space being available, occupied, or operating.
  • the warehousing space state of the warehousing space is available.
  • the warehousing space state of the warehousing space is occupied.
  • the warehousing space state of the warehousing space is operating.
  • the warehousing server 2 creating the virtual 3D warehouse model based on the occupied area of each warehousing area and the container size may include: the warehousing server 2 determining a number of rows and a number of columns of warehousing spaces to be arranged in the warehousing area based on the occupied area of the warehousing area and the container size, and determining a height of each column based on the type of goods to be stored in the warehousing area.
  • the virtual 3D warehouse model can be created based on the number of rows and the number of columns of the warehousing spaces in the warehousing area and the height of each column, as shown in FIG. 3 .
  • the warehousing spaces can be displayed in different forms depending on their respective warehousing space states.
  • different warehousing space states can be represented by different colors or different filling textures, e.g., available warehousing spaces may be represented as transparent, occupied warehousing spaces may be represented in green, or operating warehousing spaces may be represented in blue. This can be set flexibly by those skilled in the art depending on actual requirements shown in FIG. 4 .
  • the warehousing server 2 may use 3D modeling software to create the virtual 3D warehouse model.
  • the warehousing server 2 can updates the warehousing space states of the warehousing spaces in the virtual 3D warehouse model in real time based on the execution processes of the container warehousing task and the container distribution task.
  • the warehousing server 2 can be further configured to: change, after receiving the container warehousing task and planning the target warehousing space corresponding to each container in the container warehousing task, the warehousing space state of each target warehousing space to operating; change, when warehousing of each container has completed, the warehousing space state of the warehousing space occupied by the container to occupied; determine, upon receiving the container distribution task, a warehousing space occupied by the container to be distributed, and change the warehousing space state of the determined warehousing space to operating; and change, when distribution of the container has completed, the warehousing space state of the warehousing space occupied by the distributed container to available.
  • the virtual 3D warehousing model shows the container storage state for the current warehousing area, including warehousing spaces, operating warehousing spaces, and available warehousing spaces.
  • the warehousing server 2 can change the state of the target warehousing space in the container unloading hoisting task to “operating”; when receiving the container unloading completion notification message from the warehouse hoisting apparatus, the warehousing server 2 can change the state of the corresponding warehousing space to “occupied”; when transmitting the container loading hoisting task to the warehouse hoisting apparatus, the warehousing server 2 can change the state of the target warehousing space in the container loading hoisting task to “operating”; and when receiving the container loading completion notification message from the warehouse hoisting apparatus, the warehousing server 2 can change the state of the corresponding warehousing space to “available”.
  • the warehousing control system can further manage and perform warehousing scheduling of the warehousing area and the containers stored therein.
  • the warehousing server 2 can be further configured to: manage and record a warehousing space, warehousing time, an origin and a next destination of each container warehoused in each warehousing area, and generate a warehousing report; and update, after receiving the container warehousing task and/or the container distribution task transmitted from the scheduling center, the warehousing report in real time based on a completion condition of the task.
  • the warehousing server 2 When the warehousing server 2 receives the container warehousing task, it can update the warehousing report each time the warehouse hoisting apparatus stores a container, and record the warehousing space, the warehousing time, the origin and the next destination of the container in the warehousing report.
  • the warehousing server 2 can update the warehouse report each time the warehouse hoisting apparatus distributes a container, to remove the recorded information related to the container from the warehousing report.
  • the warehousing server 2 can be further configured to report warehousing condition information of each warehousing area to a cloud server via the communication module, the warehousing situation information including at least one of: container warehousing task information for each warehousing area, container distribution task information of each warehousing area, information on warehoused containers and information on goods in the containers, warehousing space information and warehousing space state information for each warehousing area, and warehouse environment information.
  • All the inbound and outbound information, goods information, warehousing space information (including the virtual 3D warehouse) and warehouse environment state information for the warehousing area will be uploaded to the cloud server in real time for backup and sharing, so as to ensure the safety and reliability of port goods information.
  • Such big data information can be provided to the port for big data analysis to further optimize the management of the port.
  • the warehouse hoisting apparatus may be any apparatus having a hoisting function, such as a tire crane, a shore bridge, a reach stacker, a rail-mounted crane, an overhead crane, a crane, a forklift, or the like.
  • the hoisting arm on the warehouse hoisting apparatus may be a hoister or a mechanical arm. The present disclosure is not limited to any specific structure of the hoisting arm.
  • the technical solutions of the present disclosure can be applied to various application scenarios, such as a coastal port area, a highway port area, a mining area, a cargo distribution center, a logistics center, a campus, or the like.
  • the present disclosure is not limited to any specific application scenario.
  • a computer device includes the warehousing control system according to any of the above embodiments.
  • terms such as processing, calculating, operating, determining, displaying and the like may refer to an action and/or procedure performed by one or more processing or computing systems or similar devices.
  • the action and/or procedure can be represented as a data operation on a physical (e.g., electronic) quantity in a register or memory of a processing system or a conversion into other data similarly represented as a physical quantity in a memory or register of a processing system or any other similar information storage, transmission or display device.
  • Information or signals can be represented using any of various different techniques and methods.
  • the data, instructions, commands, information, signals, bits, symbols and chips mentioned throughout the above description can be represented using voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
  • any particular order or hierarchy of the steps in the disclosed process is only an example of an exemplary method. It can be appreciated that, depending on design preferences, the particular order or hierarchy of the steps in the disclosed process can be re-arranged without departing from the scope of the present disclosure.
  • the method claims as attached show elements of the respective steps in an exemplary order, but they are not limited to the particular order or hierarchy as described.
  • the steps of the methods or algorithms described in connection with the embodiments of the present disclosure can be embodied directly as hardware, software modules executable by processors or any combination thereof.
  • the software modules can be provided in a RAM, a flash memory, a ROM, an EPROM, an EEPROM, a register, a hard drive, a removable magnetic drive, a CD-ROM or any other form of storage medium known in the art.
  • An exemplary storage medium is connected to a processor, such that the processor can read information from the storage medium or write information into the storage medium.
  • the storage medium can alternatively be a component of the processor.
  • the processor and the storage medium can be provided in an ASIC.
  • the ASIC can be in a user terminal.
  • the processor and the storage medium can be provided as separate components in a user terminal.
  • the technique described in the present disclosure can be implemented using modules (e.g., processes, functions or the like) performing the functions described in the present disclosure.
  • These software codes can be stored in a memory unit and executed by a processor.
  • the memory unit can be provided within the processor or externally to the processor. In the latter case, it can be communicatively coupled to the processor in various ways known in the art.
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